EP3716869A4 - End effector and end effector drive apparatus - Google Patents

End effector and end effector drive apparatus Download PDF

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Publication number
EP3716869A4
EP3716869A4 EP18897369.7A EP18897369A EP3716869A4 EP 3716869 A4 EP3716869 A4 EP 3716869A4 EP 18897369 A EP18897369 A EP 18897369A EP 3716869 A4 EP3716869 A4 EP 3716869A4
Authority
EP
European Patent Office
Prior art keywords
end effector
drive apparatus
effector drive
effector
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18897369.7A
Other languages
German (de)
French (fr)
Other versions
EP3716869A1 (en
EP3716869B1 (en
Inventor
Daniel H. Kim
Dong Suk Shin
Taeho JANG
Yongman Park
Jeihan LEE
Hongmin KIM
Kihoon Nam
Seokyung HAN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Texas System
Endoquest Robotics Inc
Original Assignee
University of Texas System
ColubrisMX Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Texas System, ColubrisMX Inc filed Critical University of Texas System
Priority to EP23201732.7A priority Critical patent/EP4279012A3/en
Priority to EP23201728.5A priority patent/EP4279011A3/en
Publication of EP3716869A1 publication Critical patent/EP3716869A1/en
Publication of EP3716869A4 publication Critical patent/EP3716869A4/en
Application granted granted Critical
Publication of EP3716869B1 publication Critical patent/EP3716869B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/0034—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831—Material properties
    • A61B2017/00876—Material properties magnetic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2902—Details of shaft characterized by features of the actuating rod
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2905—Details of shaft flexible
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2906—Multiple forceps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2908—Multiple segments connected by articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
EP18897369.7A 2017-12-29 2018-12-20 End effector and end effector drive apparatus Active EP3716869B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP23201732.7A EP4279012A3 (en) 2017-12-29 2018-12-20 End effector and end effector drive apparatus
EP23201728.5A EP4279011A3 (en) 2017-12-29 2018-12-20 End effector and end effector drive apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201762612220P 2017-12-29 2017-12-29
PCT/US2018/066828 WO2019133439A1 (en) 2017-12-29 2018-12-20 End effector and end effector drive apparatus

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP23201732.7A Division EP4279012A3 (en) 2017-12-29 2018-12-20 End effector and end effector drive apparatus
EP23201728.5A Division EP4279011A3 (en) 2017-12-29 2018-12-20 End effector and end effector drive apparatus

Publications (3)

Publication Number Publication Date
EP3716869A1 EP3716869A1 (en) 2020-10-07
EP3716869A4 true EP3716869A4 (en) 2021-12-29
EP3716869B1 EP3716869B1 (en) 2023-11-01

Family

ID=67064130

Family Applications (3)

Application Number Title Priority Date Filing Date
EP18897369.7A Active EP3716869B1 (en) 2017-12-29 2018-12-20 End effector and end effector drive apparatus
EP23201732.7A Pending EP4279012A3 (en) 2017-12-29 2018-12-20 End effector and end effector drive apparatus
EP23201728.5A Pending EP4279011A3 (en) 2017-12-29 2018-12-20 End effector and end effector drive apparatus

Family Applications After (2)

Application Number Title Priority Date Filing Date
EP23201732.7A Pending EP4279012A3 (en) 2017-12-29 2018-12-20 End effector and end effector drive apparatus
EP23201728.5A Pending EP4279011A3 (en) 2017-12-29 2018-12-20 End effector and end effector drive apparatus

Country Status (12)

Country Link
US (4) US10881422B2 (en)
EP (3) EP3716869B1 (en)
JP (3) JP6770206B2 (en)
KR (4) KR102139021B1 (en)
CN (3) CN110799136B (en)
AU (3) AU2018394076B2 (en)
BR (1) BR112019024519A8 (en)
CA (4) CA3148897C (en)
ES (1) ES2968921T3 (en)
MX (1) MX2019014108A (en)
TW (3) TWI828908B (en)
WO (1) WO2019133439A1 (en)

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WO2018122946A1 (en) 2016-12-27 2018-07-05 オリンパス株式会社 Shape acquisition method and control method for medical manipulator
EP3716869B1 (en) * 2017-12-29 2023-11-01 The Board of Regents of the University of Texas System End effector and end effector drive apparatus
TWI727851B (en) * 2020-07-13 2021-05-11 創博股份有限公司 Method of controlling end-effector to trace object in arcuate path
KR102499052B1 (en) * 2021-04-15 2023-02-13 주식회사 로엔서지컬 Endoscopic surgery robot
WO2023019123A2 (en) * 2021-08-11 2023-02-16 Siemens Medical Solutions Usa, Inc. Separable robotic catheter system
US20230049257A1 (en) * 2021-08-12 2023-02-16 Cmr Surgical Limited Surgical robot arm and instrument detachment
US20230053173A1 (en) * 2021-08-12 2023-02-16 Cmr Surgical Limited Interface between a surgical robot arm and a robotic surgical instrument
TWI835436B (en) 2021-11-30 2024-03-11 美商安督奎斯特機器人公司 Steerable overtube assemblies for robotic surgical systems, control assemblies and method thereof
TW202335645A (en) * 2021-11-30 2023-09-16 美商安督奎斯特機器人公司 Controller arrangements for robotic surgical systems
WO2023159025A1 (en) 2022-02-15 2023-08-24 Boston Scientific Scimed, Inc. Devices, systems, and methods for torque amplification in medical systems
KR20230174489A (en) * 2022-06-21 2023-12-28 큐렉소 주식회사 Surgical tool fixing device for orthopedic surgical robot

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Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5810876A (en) * 1995-10-03 1998-09-22 Akos Biomedical, Inc. Flexible forceps device
US6818007B1 (en) * 1999-09-16 2004-11-16 Syclix Limited Tool and an effector
US20080119870A1 (en) * 2006-11-16 2008-05-22 Williams Matthew R Two-piece end-effectors for robotic surgical tools
US20100318101A1 (en) * 2008-02-15 2010-12-16 Seung Wook Choi Coupling structure of surgical instrument
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